CCChen523 commited on
Commit
eca8093
·
verified ·
1 Parent(s): 7c8312d

Upload folder using huggingface_hub

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eb339e9c955ced7e6e83fd585092fbef332e72e6b743659cbb2c067c4a60f417
3
+ size 44777
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3fd9e899388162f26cf0a5adb8ca23e6f61337e83fb93c28cbbe08d6a77f6dac
3
+ size 52408
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 1110,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "names": [
34
+ "shoulder_pan.pos",
35
+ "shoulder_lift.pos",
36
+ "elbow_flex.pos",
37
+ "wrist_flex.pos",
38
+ "wrist_roll.pos",
39
+ "gripper.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
+ ]
44
+ },
45
+ "observation.images.size": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -38.56589126586914,
5
+ -99.74736785888672,
6
+ -27.702089309692383,
7
+ 26.618087768554688,
8
+ -24.358434677124023,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ -2.1317830085754395,
13
+ 27.74736785888672,
14
+ 99.90917205810547,
15
+ 72.56751251220703,
16
+ 60.201934814453125,
17
+ 30.952381134033203
18
+ ],
19
+ "mean": [
20
+ -19.2773380279541,
21
+ -9.485158920288086,
22
+ 11.333715438842773,
23
+ 55.607757568359375,
24
+ 5.725944995880127,
25
+ 7.249504566192627
26
+ ],
27
+ "std": [
28
+ 13.944650650024414,
29
+ 42.49544906616211,
30
+ 42.82958221435547,
31
+ 20.0067195892334,
32
+ 28.182941436767578,
33
+ 10.092979431152344
34
+ ],
35
+ "count": [
36
+ 1110
37
+ ],
38
+ "q01": [
39
+ -38.37607257016055,
40
+ -99.74736785888672,
41
+ -27.702089309692383,
42
+ 26.701474407741003,
43
+ -24.358434677124023,
44
+ 1.7643724175272406
45
+ ],
46
+ "q10": [
47
+ -38.37098251022659,
48
+ -99.50802438909358,
49
+ -26.86217585476962,
50
+ 27.479671478271484,
51
+ -24.0258305867513,
52
+ 1.7660713814772093
53
+ ],
54
+ "q50": [
55
+ -15.695091330486795,
56
+ 11.504539489746094,
57
+ 0.7135533702616789,
58
+ 70.51544183924578,
59
+ -4.00441390991211,
60
+ 1.8357393940872462
61
+ ],
62
+ "q90": [
63
+ -4.067775123997738,
64
+ 20.251387278238933,
65
+ 99.82854981855913,
66
+ 71.1979500359571,
67
+ 60.0412712097168,
68
+ 30.409552335739136
69
+ ],
70
+ "q99": [
71
+ -2.5206982005726206,
72
+ 27.670357971191407,
73
+ 99.90644825421847,
74
+ 72.56603357066278,
75
+ 60.1997269933364,
76
+ 30.948764138472708
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -38.568328857421875,
82
+ -99.24874877929688,
83
+ -24.03970718383789,
84
+ 28.1942081451416,
85
+ -24.201515197753906,
86
+ 1.7426273822784424
87
+ ],
88
+ "max": [
89
+ -2.299349308013916,
90
+ 28.04674530029297,
91
+ 99.3094482421875,
92
+ 71.63543701171875,
93
+ 60.02634048461914,
94
+ 30.697050094604492
95
+ ],
96
+ "mean": [
97
+ -19.217817306518555,
98
+ -8.507743835449219,
99
+ 13.147086143493652,
100
+ 55.87160110473633,
101
+ 5.700266361236572,
102
+ 9.420480728149414
103
+ ],
104
+ "std": [
105
+ 13.962709426879883,
106
+ 42.72545623779297,
107
+ 41.79777145385742,
108
+ 19.518484115600586,
109
+ 28.124170303344727,
110
+ 9.358389854431152
111
+ ],
112
+ "count": [
113
+ 1110
114
+ ],
115
+ "q01": [
116
+ -38.48479010264079,
117
+ -99.24874877929688,
118
+ -24.03970718383789,
119
+ 28.1942081451416,
120
+ -24.201515197753906,
121
+ 1.7426273822784424
122
+ ],
123
+ "q10": [
124
+ -38.31043640384829,
125
+ -99.00492712167593,
126
+ -23.963633381847767,
127
+ 28.1942081451416,
128
+ -24.07139804445464,
129
+ 1.7426273822784424
130
+ ],
131
+ "q50": [
132
+ -15.7487952709198,
133
+ 12.032974243164062,
134
+ 3.0559889475504556,
135
+ 70.86259925528748,
136
+ -4.175257165091378,
137
+ 8.177694108751085
138
+ ],
139
+ "q90": [
140
+ -3.945964813232422,
141
+ 21.299047820422114,
142
+ 99.15550109863281,
143
+ 71.20630581579476,
144
+ 59.89579772949219,
145
+ 30.56192970275879
146
+ ],
147
+ "q99": [
148
+ -2.905407333374023,
149
+ 28.03628184000651,
150
+ 99.30662478417466,
151
+ 71.6333847208226,
152
+ 60.024453007091175,
153
+ 30.69412841796875
154
+ ]
155
+ },
156
+ "observation.images.size": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.5973352800755719
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.5755882980579384
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.5566780971286084
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 192
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.01164482544701615
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ -3.9215686274509807e-13
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ -3.9215686274509807e-13
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.04315585244901569
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.01972178624272467
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.019658937686835846
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.6589226151965362
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.6430387477380781
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.6313681425281584
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.8275463146078124
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.8274966685952138
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.8039758410882841
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.8901218603863275
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.8980948480419179
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.8745345665581463
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.top": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.596022839648012
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.5394107860157952
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.5127117778969227
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 192
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.011684899667922542
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ -3.9215686274509807e-13
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ -3.9215686274509807e-13
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.32544413361155405
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.12544549999970622
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.10582517320985249
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.6275183171661947
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.5961071837412615
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.5687188315343047
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.8352596823460173
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.8393670249259464
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.8079952191237474
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.9998508043794518
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.9999092600801439
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.9998916863774506
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 36.96666666666667
478
+ ],
479
+ "mean": [
480
+ 18.483333333333334
481
+ ],
482
+ "std": [
483
+ 10.680975645545717
484
+ ],
485
+ "count": [
486
+ 1110
487
+ ],
488
+ "q01": [
489
+ 0.3630126665686307
490
+ ],
491
+ "q10": [
492
+ 3.667093333253174
493
+ ],
494
+ "q50": [
495
+ 18.46854666666659
496
+ ],
497
+ "q90": [
498
+ 33.27000000008
499
+ ],
500
+ "q99": [
501
+ 36.60365400009804
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 1109
510
+ ],
511
+ "mean": [
512
+ 554.5
513
+ ],
514
+ "std": [
515
+ 320.42926936637156
516
+ ],
517
+ "count": [
518
+ 1110
519
+ ],
520
+ "q01": [
521
+ 10.890379999901965
522
+ ],
523
+ "q10": [
524
+ 110.01279999991985
525
+ ],
526
+ "q50": [
527
+ 554.0563999999999
528
+ ],
529
+ "q90": [
530
+ 998.1000000000801
531
+ ],
532
+ "q99": [
533
+ 1098.1096200000982
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 1110
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 1109
574
+ ],
575
+ "mean": [
576
+ 554.5
577
+ ],
578
+ "std": [
579
+ 320.42926936637156
580
+ ],
581
+ "count": [
582
+ 1110
583
+ ],
584
+ "q01": [
585
+ 10.890379999901965
586
+ ],
587
+ "q10": [
588
+ 110.01279999991985
589
+ ],
590
+ "q50": [
591
+ 554.0563999999999
592
+ ],
593
+ "q90": [
594
+ 998.1000000000801
595
+ ],
596
+ "q99": [
597
+ 1098.1096200000982
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 1110
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:45bece7c013ff04293850184e4bae1b3dd4862c56393140b630a072d7780a516
3
+ size 2156
videos/observation.images.size/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2f28e71ee5663062f8ea8e788ee46a0d8329a8eeb156b3f4b22c6599abe8e9bb
3
+ size 8730678
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:acd99f8b773e61ba8d8256e42a4bd6a9b6c2409500437213270f0cde7873e20e
3
+ size 4276198